mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
892666fbbe
This gets the majority of projects from mostrobotpy building in this mirror. Projects missing still are cscore and the halsim wrappers.
1786 lines
83 KiB
Python
Generated
1786 lines
83 KiB
Python
Generated
# THIS FILE IS AUTO GENERATED
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load("@rules_cc//cc:cc_library.bzl", "cc_library")
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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", "publish_casters", "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 wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
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WPIMATH_HEADER_GEN = [
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struct(
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class_name = "ComputerVisionUtil",
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yml_file = "semiwrap/ComputerVisionUtil.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/util/ComputerVisionUtil.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 = "MathUtil",
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yml_file = "semiwrap/MathUtil.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/util/MathUtil.hpp",
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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 = "wpimath.resolve_casters",
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caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
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casters_pkl_file = "wpimath.casters.pkl",
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dep_file = "wpimath.casters.d",
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)
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gen_libinit(
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name = "wpimath.gen_lib_init",
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output_file = "src/main/python/wpimath/_init__wpimath.py",
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modules = ["native.wpimath._init_robotpy_native_wpimath", "wpiutil._init__wpiutil"],
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)
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gen_pkgconf(
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name = "wpimath.gen_pkgconf",
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libinit_py = "wpimath._init__wpimath",
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module_pkg_name = "wpimath._wpimath",
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output_file = "wpimath.pc",
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pkg_name = "wpimath",
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install_path = "src/main/python/wpimath",
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project_file = "src/main/python/pyproject.toml",
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package_root = "src/main/python/wpimath/__init__.py",
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)
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gen_modinit_hpp(
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name = "wpimath.gen_modinit_hpp",
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input_dats = [x.class_name for x in WPIMATH_HEADER_GEN],
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libname = "_wpimath",
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output_file = "semiwrap_init.wpimath._wpimath.hpp",
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)
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run_header_gen(
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name = "wpimath",
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casters_pickle = "wpimath.casters.pkl",
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header_gen_config = WPIMATH_HEADER_GEN,
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trampoline_subpath = "src/main/python/wpimath",
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deps = header_to_dat_deps,
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local_native_libraries = [
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"//wpimath:robotpy-native-wpimath.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 = "wpimath",
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install_path = "src/main/python/wpimath/",
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extension_name = "_wpimath",
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generated_srcs = [":wpimath.generated_srcs"],
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semiwrap_header = [":wpimath.gen_modinit_hpp"],
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deps = [
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":wpimath.tmpl_hdrs",
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":wpimath.trampoline_hdrs",
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"//wpimath:wpimath",
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"//wpimath:wpimath-casters",
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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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"//wpimath:shared/wpimath",
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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 = "wpimath.generated_files",
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srcs = [
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"wpimath.gen_modinit_hpp.gen",
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"wpimath.header_gen_files",
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"wpimath.gen_pkgconf",
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"wpimath.gen_lib_init",
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],
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tags = ["manual", "robotpy"],
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)
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def wpimath_filter_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
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WPIMATH_FILTER_HEADER_GEN = [
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struct(
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class_name = "Debouncer",
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yml_file = "semiwrap/filter/Debouncer.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/Debouncer.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Debouncer", "wpi__math__Debouncer.hpp"),
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],
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),
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struct(
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class_name = "LinearFilter",
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yml_file = "semiwrap/filter/LinearFilter.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/LinearFilter.hpp",
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tmpl_class_names = [
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("LinearFilter_tmpl1", "LinearFilter"),
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],
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trampolines = [
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("wpi::math::LinearFilter", "wpi__math__LinearFilter.hpp"),
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],
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),
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struct(
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class_name = "MedianFilter",
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yml_file = "semiwrap/filter/MedianFilter.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/MedianFilter.hpp",
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tmpl_class_names = [
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("MedianFilter_tmpl1", "MedianFilter"),
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],
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trampolines = [
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("wpi::math::MedianFilter", "wpi__math__MedianFilter.hpp"),
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],
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),
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struct(
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class_name = "SlewRateLimiter",
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yml_file = "semiwrap/filter/SlewRateLimiter.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/filter/SlewRateLimiter.hpp",
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tmpl_class_names = [
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("SlewRateLimiter_tmpl1", "SlewRateLimiter"),
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],
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trampolines = [
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("wpi::math::SlewRateLimiter", "wpi__math__SlewRateLimiter.hpp"),
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],
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),
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]
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resolve_casters(
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name = "wpimath_filter.resolve_casters",
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caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
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casters_pkl_file = "wpimath_filter.casters.pkl",
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dep_file = "wpimath_filter.casters.d",
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)
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gen_libinit(
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name = "wpimath_filter.gen_lib_init",
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output_file = "src/main/python/wpimath/filter/_init__filter.py",
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modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath._init__wpimath"],
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)
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gen_pkgconf(
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name = "wpimath_filter.gen_pkgconf",
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libinit_py = "wpimath.filter._init__filter",
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module_pkg_name = "wpimath.filter._filter",
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output_file = "wpimath_filter.pc",
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pkg_name = "wpimath_filter",
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install_path = "src/main/python/wpimath/filter",
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project_file = "src/main/python/pyproject.toml",
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package_root = "src/main/python/wpimath/__init__.py",
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)
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gen_modinit_hpp(
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name = "wpimath_filter.gen_modinit_hpp",
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input_dats = [x.class_name for x in WPIMATH_FILTER_HEADER_GEN],
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libname = "_filter",
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output_file = "semiwrap_init.wpimath.filter._filter.hpp",
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)
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run_header_gen(
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name = "wpimath_filter",
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casters_pickle = "wpimath_filter.casters.pkl",
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header_gen_config = WPIMATH_FILTER_HEADER_GEN,
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trampoline_subpath = "src/main/python/wpimath/filter",
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deps = header_to_dat_deps,
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local_native_libraries = [
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"//wpimath:robotpy-native-wpimath.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 = "wpimath_filter",
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install_path = "src/main/python/wpimath/filter/",
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extension_name = "_filter",
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generated_srcs = [":wpimath_filter.generated_srcs"],
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semiwrap_header = [":wpimath_filter.gen_modinit_hpp"],
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deps = [
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":wpimath_filter.tmpl_hdrs",
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":wpimath_filter.trampoline_hdrs",
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"//wpimath:wpimath",
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"//wpimath:wpimath-casters",
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"//wpimath:wpimath_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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"//wpimath:shared/wpimath",
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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 = "wpimath_filter.generated_files",
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srcs = [
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"wpimath_filter.gen_modinit_hpp.gen",
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"wpimath_filter.header_gen_files",
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"wpimath_filter.gen_pkgconf",
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"wpimath_filter.gen_lib_init",
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],
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tags = ["manual", "robotpy"],
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)
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def wpimath_geometry_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
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WPIMATH_GEOMETRY_HEADER_GEN = [
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struct(
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class_name = "CoordinateAxis",
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yml_file = "semiwrap/geometry/CoordinateAxis.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/CoordinateAxis.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::CoordinateAxis", "wpi__math__CoordinateAxis.hpp"),
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],
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),
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struct(
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class_name = "CoordinateSystem",
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yml_file = "semiwrap/geometry/CoordinateSystem.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/CoordinateSystem.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::CoordinateSystem", "wpi__math__CoordinateSystem.hpp"),
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],
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),
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struct(
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class_name = "Ellipse2d",
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yml_file = "semiwrap/geometry/Ellipse2d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Ellipse2d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Ellipse2d", "wpi__math__Ellipse2d.hpp"),
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],
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),
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struct(
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class_name = "Pose2d",
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yml_file = "semiwrap/geometry/Pose2d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Pose2d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Pose2d", "wpi__math__Pose2d.hpp"),
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],
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),
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struct(
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class_name = "Pose3d",
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yml_file = "semiwrap/geometry/Pose3d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Pose3d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Pose3d", "wpi__math__Pose3d.hpp"),
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],
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),
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struct(
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class_name = "Quaternion",
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yml_file = "semiwrap/geometry/Quaternion.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Quaternion.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Quaternion", "wpi__math__Quaternion.hpp"),
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],
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),
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struct(
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class_name = "Rectangle2d",
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yml_file = "semiwrap/geometry/Rectangle2d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rectangle2d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Rectangle2d", "wpi__math__Rectangle2d.hpp"),
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],
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),
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struct(
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class_name = "Rotation2d",
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yml_file = "semiwrap/geometry/Rotation2d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rotation2d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Rotation2d", "wpi__math__Rotation2d.hpp"),
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],
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),
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struct(
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class_name = "Rotation3d",
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yml_file = "semiwrap/geometry/Rotation3d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Rotation3d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Rotation3d", "wpi__math__Rotation3d.hpp"),
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],
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),
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struct(
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class_name = "Transform2d",
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yml_file = "semiwrap/geometry/Transform2d.yml",
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header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
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|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Transform2d.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::math::Transform2d", "wpi__math__Transform2d.hpp"),
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],
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),
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struct(
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class_name = "Transform3d",
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|
yml_file = "semiwrap/geometry/Transform3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Transform3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::Transform3d", "wpi__math__Transform3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Translation2d",
|
|
yml_file = "semiwrap/geometry/Translation2d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Translation2d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::Translation2d", "wpi__math__Translation2d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Translation3d",
|
|
yml_file = "semiwrap/geometry/Translation3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Translation3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::Translation3d", "wpi__math__Translation3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Twist2d",
|
|
yml_file = "semiwrap/geometry/Twist2d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Twist2d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::Twist2d", "wpi__math__Twist2d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Twist3d",
|
|
yml_file = "semiwrap/geometry/Twist3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/geometry/Twist3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::Twist3d", "wpi__math__Twist3d.hpp"),
|
|
],
|
|
),
|
|
]
|
|
|
|
resolve_casters(
|
|
name = "wpimath_geometry.resolve_casters",
|
|
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
|
|
casters_pkl_file = "wpimath_geometry.casters.pkl",
|
|
dep_file = "wpimath_geometry.casters.d",
|
|
)
|
|
|
|
gen_libinit(
|
|
name = "wpimath_geometry.gen_lib_init",
|
|
output_file = "src/main/python/wpimath/geometry/_init__geometry.py",
|
|
modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath._init__wpimath"],
|
|
)
|
|
|
|
gen_pkgconf(
|
|
name = "wpimath_geometry.gen_pkgconf",
|
|
libinit_py = "wpimath.geometry._init__geometry",
|
|
module_pkg_name = "wpimath.geometry._geometry",
|
|
output_file = "wpimath_geometry.pc",
|
|
pkg_name = "wpimath_geometry",
|
|
install_path = "src/main/python/wpimath/geometry",
|
|
project_file = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/wpimath/__init__.py",
|
|
)
|
|
|
|
gen_modinit_hpp(
|
|
name = "wpimath_geometry.gen_modinit_hpp",
|
|
input_dats = [x.class_name for x in WPIMATH_GEOMETRY_HEADER_GEN],
|
|
libname = "_geometry",
|
|
output_file = "semiwrap_init.wpimath.geometry._geometry.hpp",
|
|
)
|
|
|
|
run_header_gen(
|
|
name = "wpimath_geometry",
|
|
casters_pickle = "wpimath_geometry.casters.pkl",
|
|
header_gen_config = WPIMATH_GEOMETRY_HEADER_GEN,
|
|
trampoline_subpath = "src/main/python/wpimath/geometry",
|
|
deps = header_to_dat_deps,
|
|
local_native_libraries = [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
)
|
|
|
|
create_pybind_library(
|
|
name = "wpimath_geometry",
|
|
install_path = "src/main/python/wpimath/geometry/",
|
|
extension_name = "_geometry",
|
|
generated_srcs = [":wpimath_geometry.generated_srcs"],
|
|
semiwrap_header = [":wpimath_geometry.gen_modinit_hpp"],
|
|
deps = [
|
|
":wpimath_geometry.tmpl_hdrs",
|
|
":wpimath_geometry.trampoline_hdrs",
|
|
"//wpimath:wpimath",
|
|
"//wpimath:wpimath-casters",
|
|
"//wpimath:wpimath_pybind_library",
|
|
"//wpiutil:wpiutil",
|
|
"//wpiutil:wpiutil_pybind_library",
|
|
],
|
|
dynamic_deps = [
|
|
"//wpimath:shared/wpimath",
|
|
"//wpiutil:shared/wpiutil",
|
|
],
|
|
extra_hdrs = extra_hdrs,
|
|
extra_srcs = srcs,
|
|
includes = includes,
|
|
)
|
|
|
|
native.filegroup(
|
|
name = "wpimath_geometry.generated_files",
|
|
srcs = [
|
|
"wpimath_geometry.gen_modinit_hpp.gen",
|
|
"wpimath_geometry.header_gen_files",
|
|
"wpimath_geometry.gen_pkgconf",
|
|
"wpimath_geometry.gen_lib_init",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
def wpimath_interpolation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
|
|
WPIMATH_INTERPOLATION_HEADER_GEN = [
|
|
struct(
|
|
class_name = "TimeInterpolatableBuffer",
|
|
yml_file = "semiwrap/interpolation/TimeInterpolatableBuffer.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/interpolation/TimeInterpolatableBuffer.hpp",
|
|
tmpl_class_names = [
|
|
("TimeInterpolatableBuffer_tmpl1", "TimeInterpolatablePose2dBuffer"),
|
|
("TimeInterpolatableBuffer_tmpl2", "TimeInterpolatablePose3dBuffer"),
|
|
("TimeInterpolatableBuffer_tmpl3", "TimeInterpolatableRotation2dBuffer"),
|
|
("TimeInterpolatableBuffer_tmpl4", "TimeInterpolatableRotation3dBuffer"),
|
|
("TimeInterpolatableBuffer_tmpl5", "TimeInterpolatableTranslation2dBuffer"),
|
|
("TimeInterpolatableBuffer_tmpl6", "TimeInterpolatableTranslation3dBuffer"),
|
|
("TimeInterpolatableBuffer_tmpl7", "TimeInterpolatableFloatBuffer"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::TimeInterpolatableBuffer", "wpi__math__TimeInterpolatableBuffer.hpp"),
|
|
],
|
|
),
|
|
]
|
|
|
|
resolve_casters(
|
|
name = "wpimath_interpolation.resolve_casters",
|
|
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
|
|
casters_pkl_file = "wpimath_interpolation.casters.pkl",
|
|
dep_file = "wpimath_interpolation.casters.d",
|
|
)
|
|
|
|
gen_libinit(
|
|
name = "wpimath_interpolation.gen_lib_init",
|
|
output_file = "src/main/python/wpimath/interpolation/_init__interpolation.py",
|
|
modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath.geometry._init__geometry"],
|
|
)
|
|
|
|
gen_pkgconf(
|
|
name = "wpimath_interpolation.gen_pkgconf",
|
|
libinit_py = "wpimath.interpolation._init__interpolation",
|
|
module_pkg_name = "wpimath.interpolation._interpolation",
|
|
output_file = "wpimath_interpolation.pc",
|
|
pkg_name = "wpimath_interpolation",
|
|
install_path = "src/main/python/wpimath/interpolation",
|
|
project_file = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/wpimath/__init__.py",
|
|
)
|
|
|
|
gen_modinit_hpp(
|
|
name = "wpimath_interpolation.gen_modinit_hpp",
|
|
input_dats = [x.class_name for x in WPIMATH_INTERPOLATION_HEADER_GEN],
|
|
libname = "_interpolation",
|
|
output_file = "semiwrap_init.wpimath.interpolation._interpolation.hpp",
|
|
)
|
|
|
|
run_header_gen(
|
|
name = "wpimath_interpolation",
|
|
casters_pickle = "wpimath_interpolation.casters.pkl",
|
|
header_gen_config = WPIMATH_INTERPOLATION_HEADER_GEN,
|
|
trampoline_subpath = "src/main/python/wpimath/interpolation",
|
|
deps = header_to_dat_deps,
|
|
local_native_libraries = [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
)
|
|
|
|
create_pybind_library(
|
|
name = "wpimath_interpolation",
|
|
install_path = "src/main/python/wpimath/interpolation/",
|
|
extension_name = "_interpolation",
|
|
generated_srcs = [":wpimath_interpolation.generated_srcs"],
|
|
semiwrap_header = [":wpimath_interpolation.gen_modinit_hpp"],
|
|
deps = [
|
|
":wpimath_interpolation.tmpl_hdrs",
|
|
":wpimath_interpolation.trampoline_hdrs",
|
|
"//wpimath:wpimath",
|
|
"//wpimath:wpimath-casters",
|
|
"//wpimath:wpimath_geometry_pybind_library",
|
|
"//wpimath:wpimath_pybind_library",
|
|
"//wpiutil:wpiutil",
|
|
"//wpiutil:wpiutil_pybind_library",
|
|
],
|
|
dynamic_deps = [
|
|
"//wpimath:shared/wpimath",
|
|
"//wpiutil:shared/wpiutil",
|
|
],
|
|
extra_hdrs = extra_hdrs,
|
|
extra_srcs = srcs,
|
|
includes = includes,
|
|
)
|
|
|
|
native.filegroup(
|
|
name = "wpimath_interpolation.generated_files",
|
|
srcs = [
|
|
"wpimath_interpolation.gen_modinit_hpp.gen",
|
|
"wpimath_interpolation.header_gen_files",
|
|
"wpimath_interpolation.gen_pkgconf",
|
|
"wpimath_interpolation.gen_lib_init",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
def wpimath_kinematics_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
|
|
WPIMATH_KINEMATICS_HEADER_GEN = [
|
|
struct(
|
|
class_name = "ChassisSpeeds",
|
|
yml_file = "semiwrap/kinematics/ChassisSpeeds.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/ChassisSpeeds.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::ChassisSpeeds", "wpi__math__ChassisSpeeds.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveKinematics",
|
|
yml_file = "semiwrap/kinematics/DifferentialDriveKinematics.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveKinematics.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveKinematics", "wpi__math__DifferentialDriveKinematics.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveOdometry3d",
|
|
yml_file = "semiwrap/kinematics/DifferentialDriveOdometry3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveOdometry3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveOdometry3d", "wpi__math__DifferentialDriveOdometry3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveOdometry",
|
|
yml_file = "semiwrap/kinematics/DifferentialDriveOdometry.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveOdometry.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveOdometry", "wpi__math__DifferentialDriveOdometry.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveWheelPositions",
|
|
yml_file = "semiwrap/kinematics/DifferentialDriveWheelPositions.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelPositions.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveWheelPositions", "wpi__math__DifferentialDriveWheelPositions.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveWheelSpeeds",
|
|
yml_file = "semiwrap/kinematics/DifferentialDriveWheelSpeeds.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveWheelSpeeds", "wpi__math__DifferentialDriveWheelSpeeds.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Kinematics",
|
|
yml_file = "semiwrap/kinematics/Kinematics.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Kinematics.hpp",
|
|
tmpl_class_names = [
|
|
("Kinematics_tmpl1", "DifferentialDriveKinematicsBase"),
|
|
("Kinematics_tmpl2", "MecanumDriveKinematicsBase"),
|
|
("Kinematics_tmpl3", "SwerveDrive2KinematicsBase"),
|
|
("Kinematics_tmpl4", "SwerveDrive3KinematicsBase"),
|
|
("Kinematics_tmpl5", "SwerveDrive4KinematicsBase"),
|
|
("Kinematics_tmpl6", "SwerveDrive6KinematicsBase"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::Kinematics", "wpi__math__Kinematics.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDriveKinematics",
|
|
yml_file = "semiwrap/kinematics/MecanumDriveKinematics.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveKinematics.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDriveKinematics", "wpi__math__MecanumDriveKinematics.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDriveOdometry",
|
|
yml_file = "semiwrap/kinematics/MecanumDriveOdometry.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveOdometry.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDriveOdometry", "wpi__math__MecanumDriveOdometry.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDriveOdometry3d",
|
|
yml_file = "semiwrap/kinematics/MecanumDriveOdometry3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveOdometry3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDriveOdometry3d", "wpi__math__MecanumDriveOdometry3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDriveWheelPositions",
|
|
yml_file = "semiwrap/kinematics/MecanumDriveWheelPositions.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelPositions.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDriveWheelPositions", "wpi__math__MecanumDriveWheelPositions.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDriveWheelSpeeds",
|
|
yml_file = "semiwrap/kinematics/MecanumDriveWheelSpeeds.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDriveWheelSpeeds", "wpi__math__MecanumDriveWheelSpeeds.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Odometry",
|
|
yml_file = "semiwrap/kinematics/Odometry.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Odometry.hpp",
|
|
tmpl_class_names = [
|
|
("Odometry_tmpl1", "DifferentialDriveOdometryBase"),
|
|
("Odometry_tmpl2", "MecanumDriveOdometryBase"),
|
|
("Odometry_tmpl3", "SwerveDrive2OdometryBase"),
|
|
("Odometry_tmpl4", "SwerveDrive3OdometryBase"),
|
|
("Odometry_tmpl5", "SwerveDrive4OdometryBase"),
|
|
("Odometry_tmpl6", "SwerveDrive6OdometryBase"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::Odometry", "wpi__math__Odometry.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Odometry3d",
|
|
yml_file = "semiwrap/kinematics/Odometry3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/Odometry3d.hpp",
|
|
tmpl_class_names = [
|
|
("Odometry3d_tmpl1", "DifferentialDriveOdometry3dBase"),
|
|
("Odometry3d_tmpl2", "MecanumDriveOdometry3dBase"),
|
|
("Odometry3d_tmpl3", "SwerveDrive2Odometry3dBase"),
|
|
("Odometry3d_tmpl4", "SwerveDrive3Odometry3dBase"),
|
|
("Odometry3d_tmpl5", "SwerveDrive4Odometry3dBase"),
|
|
("Odometry3d_tmpl6", "SwerveDrive6Odometry3dBase"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::Odometry3d", "wpi__math__Odometry3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveDriveKinematics",
|
|
yml_file = "semiwrap/kinematics/SwerveDriveKinematics.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveKinematics.hpp",
|
|
tmpl_class_names = [
|
|
("SwerveDriveKinematics_tmpl1", "SwerveDrive2Kinematics"),
|
|
("SwerveDriveKinematics_tmpl2", "SwerveDrive3Kinematics"),
|
|
("SwerveDriveKinematics_tmpl3", "SwerveDrive4Kinematics"),
|
|
("SwerveDriveKinematics_tmpl4", "SwerveDrive6Kinematics"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SwerveDriveKinematics", "wpi__math__SwerveDriveKinematics.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveDriveOdometry",
|
|
yml_file = "semiwrap/kinematics/SwerveDriveOdometry.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveOdometry.hpp",
|
|
tmpl_class_names = [
|
|
("SwerveDriveOdometry_tmpl1", "SwerveDrive2Odometry"),
|
|
("SwerveDriveOdometry_tmpl2", "SwerveDrive3Odometry"),
|
|
("SwerveDriveOdometry_tmpl3", "SwerveDrive4Odometry"),
|
|
("SwerveDriveOdometry_tmpl4", "SwerveDrive6Odometry"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SwerveDriveOdometry", "wpi__math__SwerveDriveOdometry.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveDriveOdometry3d",
|
|
yml_file = "semiwrap/kinematics/SwerveDriveOdometry3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveDriveOdometry3d.hpp",
|
|
tmpl_class_names = [
|
|
("SwerveDriveOdometry3d_tmpl1", "SwerveDrive2Odometry3d"),
|
|
("SwerveDriveOdometry3d_tmpl2", "SwerveDrive3Odometry3d"),
|
|
("SwerveDriveOdometry3d_tmpl3", "SwerveDrive4Odometry3d"),
|
|
("SwerveDriveOdometry3d_tmpl4", "SwerveDrive6Odometry3d"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SwerveDriveOdometry3d", "wpi__math__SwerveDriveOdometry3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveModulePosition",
|
|
yml_file = "semiwrap/kinematics/SwerveModulePosition.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModulePosition.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::SwerveModulePosition", "wpi__math__SwerveModulePosition.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveModuleState",
|
|
yml_file = "semiwrap/kinematics/SwerveModuleState.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/kinematics/SwerveModuleState.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::SwerveModuleState", "wpi__math__SwerveModuleState.hpp"),
|
|
],
|
|
),
|
|
]
|
|
|
|
resolve_casters(
|
|
name = "wpimath_kinematics.resolve_casters",
|
|
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
|
|
casters_pkl_file = "wpimath_kinematics.casters.pkl",
|
|
dep_file = "wpimath_kinematics.casters.d",
|
|
)
|
|
|
|
gen_libinit(
|
|
name = "wpimath_kinematics.gen_lib_init",
|
|
output_file = "src/main/python/wpimath/kinematics/_init__kinematics.py",
|
|
modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath.geometry._init__geometry"],
|
|
)
|
|
|
|
gen_pkgconf(
|
|
name = "wpimath_kinematics.gen_pkgconf",
|
|
libinit_py = "wpimath.kinematics._init__kinematics",
|
|
module_pkg_name = "wpimath.kinematics._kinematics",
|
|
output_file = "wpimath_kinematics.pc",
|
|
pkg_name = "wpimath_kinematics",
|
|
install_path = "src/main/python/wpimath/kinematics",
|
|
project_file = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/wpimath/__init__.py",
|
|
)
|
|
|
|
gen_modinit_hpp(
|
|
name = "wpimath_kinematics.gen_modinit_hpp",
|
|
input_dats = [x.class_name for x in WPIMATH_KINEMATICS_HEADER_GEN],
|
|
libname = "_kinematics",
|
|
output_file = "semiwrap_init.wpimath.kinematics._kinematics.hpp",
|
|
)
|
|
|
|
run_header_gen(
|
|
name = "wpimath_kinematics",
|
|
casters_pickle = "wpimath_kinematics.casters.pkl",
|
|
header_gen_config = WPIMATH_KINEMATICS_HEADER_GEN,
|
|
trampoline_subpath = "src/main/python/wpimath/kinematics",
|
|
deps = header_to_dat_deps,
|
|
local_native_libraries = [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
)
|
|
|
|
create_pybind_library(
|
|
name = "wpimath_kinematics",
|
|
install_path = "src/main/python/wpimath/kinematics/",
|
|
extension_name = "_kinematics",
|
|
generated_srcs = [":wpimath_kinematics.generated_srcs"],
|
|
semiwrap_header = [":wpimath_kinematics.gen_modinit_hpp"],
|
|
deps = [
|
|
":wpimath_kinematics.tmpl_hdrs",
|
|
":wpimath_kinematics.trampoline_hdrs",
|
|
"//wpimath:wpimath",
|
|
"//wpimath:wpimath-casters",
|
|
"//wpimath:wpimath_geometry_pybind_library",
|
|
"//wpimath:wpimath_pybind_library",
|
|
"//wpiutil:wpiutil",
|
|
"//wpiutil:wpiutil_pybind_library",
|
|
],
|
|
dynamic_deps = [
|
|
"//wpimath:shared/wpimath",
|
|
"//wpiutil:shared/wpiutil",
|
|
],
|
|
extra_hdrs = extra_hdrs,
|
|
extra_srcs = srcs,
|
|
includes = includes,
|
|
)
|
|
|
|
native.filegroup(
|
|
name = "wpimath_kinematics.generated_files",
|
|
srcs = [
|
|
"wpimath_kinematics.gen_modinit_hpp.gen",
|
|
"wpimath_kinematics.header_gen_files",
|
|
"wpimath_kinematics.gen_pkgconf",
|
|
"wpimath_kinematics.gen_lib_init",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
def wpimath_spline_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
|
|
WPIMATH_SPLINE_HEADER_GEN = [
|
|
struct(
|
|
class_name = "CubicHermiteSpline",
|
|
yml_file = "semiwrap/spline/CubicHermiteSpline.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/CubicHermiteSpline.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::CubicHermiteSpline", "wpi__math__CubicHermiteSpline.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "QuinticHermiteSpline",
|
|
yml_file = "semiwrap/spline/QuinticHermiteSpline.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/QuinticHermiteSpline.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::QuinticHermiteSpline", "wpi__math__QuinticHermiteSpline.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Spline",
|
|
yml_file = "semiwrap/spline/Spline.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/Spline.hpp",
|
|
tmpl_class_names = [
|
|
("Spline_tmpl1", "Spline3"),
|
|
("Spline_tmpl2", "Spline5"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::Spline", "wpi__math__Spline.hpp"),
|
|
("wpi::math::Spline::ControlVector", "wpi__math__Spline__ControlVector.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SplineHelper",
|
|
yml_file = "semiwrap/spline/SplineHelper.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/SplineHelper.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::SplineHelper", "wpi__math__SplineHelper.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SplineParameterizer",
|
|
yml_file = "semiwrap/spline/SplineParameterizer.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/spline/SplineParameterizer.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::SplineParameterizer", "wpi__math__SplineParameterizer.hpp"),
|
|
],
|
|
),
|
|
]
|
|
|
|
resolve_casters(
|
|
name = "wpimath_spline.resolve_casters",
|
|
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
|
|
casters_pkl_file = "wpimath_spline.casters.pkl",
|
|
dep_file = "wpimath_spline.casters.d",
|
|
)
|
|
|
|
gen_libinit(
|
|
name = "wpimath_spline.gen_lib_init",
|
|
output_file = "src/main/python/wpimath/spline/_init__spline.py",
|
|
modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath.geometry._init__geometry"],
|
|
)
|
|
|
|
gen_pkgconf(
|
|
name = "wpimath_spline.gen_pkgconf",
|
|
libinit_py = "wpimath.spline._init__spline",
|
|
module_pkg_name = "wpimath.spline._spline",
|
|
output_file = "wpimath_spline.pc",
|
|
pkg_name = "wpimath_spline",
|
|
install_path = "src/main/python/wpimath/spline",
|
|
project_file = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/wpimath/__init__.py",
|
|
)
|
|
|
|
gen_modinit_hpp(
|
|
name = "wpimath_spline.gen_modinit_hpp",
|
|
input_dats = [x.class_name for x in WPIMATH_SPLINE_HEADER_GEN],
|
|
libname = "_spline",
|
|
output_file = "semiwrap_init.wpimath.spline._spline.hpp",
|
|
)
|
|
|
|
run_header_gen(
|
|
name = "wpimath_spline",
|
|
casters_pickle = "wpimath_spline.casters.pkl",
|
|
header_gen_config = WPIMATH_SPLINE_HEADER_GEN,
|
|
trampoline_subpath = "src/main/python/wpimath/spline",
|
|
deps = header_to_dat_deps,
|
|
local_native_libraries = [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
)
|
|
|
|
create_pybind_library(
|
|
name = "wpimath_spline",
|
|
install_path = "src/main/python/wpimath/spline/",
|
|
extension_name = "_spline",
|
|
generated_srcs = [":wpimath_spline.generated_srcs"],
|
|
semiwrap_header = [":wpimath_spline.gen_modinit_hpp"],
|
|
deps = [
|
|
":wpimath_spline.tmpl_hdrs",
|
|
":wpimath_spline.trampoline_hdrs",
|
|
"//wpimath:wpimath",
|
|
"//wpimath:wpimath-casters",
|
|
"//wpimath:wpimath_geometry_pybind_library",
|
|
"//wpimath:wpimath_pybind_library",
|
|
"//wpiutil:wpiutil",
|
|
"//wpiutil:wpiutil_pybind_library",
|
|
],
|
|
dynamic_deps = [
|
|
"//wpimath:shared/wpimath",
|
|
"//wpiutil:shared/wpiutil",
|
|
],
|
|
extra_hdrs = extra_hdrs,
|
|
extra_srcs = srcs,
|
|
includes = includes,
|
|
)
|
|
|
|
native.filegroup(
|
|
name = "wpimath_spline.generated_files",
|
|
srcs = [
|
|
"wpimath_spline.gen_modinit_hpp.gen",
|
|
"wpimath_spline.header_gen_files",
|
|
"wpimath_spline.gen_pkgconf",
|
|
"wpimath_spline.gen_lib_init",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
def wpimath_controls_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
|
|
WPIMATH_CONTROLS_HEADER_GEN = [
|
|
struct(
|
|
class_name = "ArmFeedforward",
|
|
yml_file = "semiwrap/controls/ArmFeedforward.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ArmFeedforward.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::ArmFeedforward", "wpi__math__ArmFeedforward.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "BangBangController",
|
|
yml_file = "semiwrap/controls/BangBangController.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/BangBangController.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::BangBangController", "wpi__math__BangBangController.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "ControlAffinePlantInversionFeedforward",
|
|
yml_file = "semiwrap/controls/ControlAffinePlantInversionFeedforward.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ControlAffinePlantInversionFeedforward.hpp",
|
|
tmpl_class_names = [
|
|
("ControlAffinePlantInversionFeedforward_tmpl1", "ControlAffinePlantInversionFeedforward_1_1"),
|
|
("ControlAffinePlantInversionFeedforward_tmpl2", "ControlAffinePlantInversionFeedforward_2_1"),
|
|
("ControlAffinePlantInversionFeedforward_tmpl3", "ControlAffinePlantInversionFeedforward_2_2"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::ControlAffinePlantInversionFeedforward", "wpi__math__ControlAffinePlantInversionFeedforward.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveAccelerationLimiter",
|
|
yml_file = "semiwrap/controls/DifferentialDriveAccelerationLimiter.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveAccelerationLimiter.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveAccelerationLimiter", "wpi__math__DifferentialDriveAccelerationLimiter.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveFeedforward",
|
|
yml_file = "semiwrap/controls/DifferentialDriveFeedforward.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveFeedforward.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveFeedforward", "wpi__math__DifferentialDriveFeedforward.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveWheelVoltages",
|
|
yml_file = "semiwrap/controls/DifferentialDriveWheelVoltages.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/DifferentialDriveWheelVoltages.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveWheelVoltages", "wpi__math__DifferentialDriveWheelVoltages.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "ElevatorFeedforward",
|
|
yml_file = "semiwrap/controls/ElevatorFeedforward.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ElevatorFeedforward.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::ElevatorFeedforward", "wpi__math__ElevatorFeedforward.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "ImplicitModelFollower",
|
|
yml_file = "semiwrap/controls/ImplicitModelFollower.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ImplicitModelFollower.hpp",
|
|
tmpl_class_names = [
|
|
("ImplicitModelFollower_tmpl1", "ImplicitModelFollower_1_1"),
|
|
("ImplicitModelFollower_tmpl2", "ImplicitModelFollower_2_1"),
|
|
("ImplicitModelFollower_tmpl3", "ImplicitModelFollower_2_2"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::ImplicitModelFollower", "wpi__math__ImplicitModelFollower.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LTVDifferentialDriveController",
|
|
yml_file = "semiwrap/controls/LTVDifferentialDriveController.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LTVDifferentialDriveController.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::LTVDifferentialDriveController", "wpi__math__LTVDifferentialDriveController.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LTVUnicycleController",
|
|
yml_file = "semiwrap/controls/LTVUnicycleController.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LTVUnicycleController.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::LTVUnicycleController", "wpi__math__LTVUnicycleController.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LinearPlantInversionFeedforward",
|
|
yml_file = "semiwrap/controls/LinearPlantInversionFeedforward.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LinearPlantInversionFeedforward.hpp",
|
|
tmpl_class_names = [
|
|
("LinearPlantInversionFeedforward_tmpl1", "LinearPlantInversionFeedforward_1_1"),
|
|
("LinearPlantInversionFeedforward_tmpl2", "LinearPlantInversionFeedforward_2_1"),
|
|
("LinearPlantInversionFeedforward_tmpl3", "LinearPlantInversionFeedforward_2_2"),
|
|
("LinearPlantInversionFeedforward_tmpl4", "LinearPlantInversionFeedforward_3_2"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::LinearPlantInversionFeedforward", "wpi__math__LinearPlantInversionFeedforward.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LinearQuadraticRegulator",
|
|
yml_file = "semiwrap/controls/LinearQuadraticRegulator.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/LinearQuadraticRegulator.hpp",
|
|
tmpl_class_names = [
|
|
("LinearQuadraticRegulator_tmpl1", "LinearQuadraticRegulator_1_1"),
|
|
("LinearQuadraticRegulator_tmpl2", "LinearQuadraticRegulator_2_1"),
|
|
("LinearQuadraticRegulator_tmpl3", "LinearQuadraticRegulator_2_2"),
|
|
("LinearQuadraticRegulator_tmpl4", "LinearQuadraticRegulator_3_2"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::LinearQuadraticRegulator", "wpi__math__LinearQuadraticRegulator.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "PIDController",
|
|
yml_file = "semiwrap/controls/PIDController.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/PIDController.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::PIDController", "wpi__math__PIDController.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "ProfiledPIDController",
|
|
yml_file = "semiwrap/controls/ProfiledPIDController.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/ProfiledPIDController.hpp",
|
|
tmpl_class_names = [
|
|
("ProfiledPIDController_tmpl1", "ProfiledPIDController"),
|
|
("ProfiledPIDController_tmpl2", "ProfiledPIDControllerRadians"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::ProfiledPIDController", "wpi__math__ProfiledPIDController.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SimpleMotorFeedforward",
|
|
yml_file = "semiwrap/controls/SimpleMotorFeedforward.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/controller/SimpleMotorFeedforward.hpp",
|
|
tmpl_class_names = [
|
|
("SimpleMotorFeedforward_tmpl1", "SimpleMotorFeedforwardMeters"),
|
|
("SimpleMotorFeedforward_tmpl2", "SimpleMotorFeedforwardRadians"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SimpleMotorFeedforward", "wpi__math__SimpleMotorFeedforward.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDrivePoseEstimator",
|
|
yml_file = "semiwrap/controls/DifferentialDrivePoseEstimator.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/DifferentialDrivePoseEstimator.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDrivePoseEstimator", "wpi__math__DifferentialDrivePoseEstimator.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDrivePoseEstimator3d",
|
|
yml_file = "semiwrap/controls/DifferentialDrivePoseEstimator3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/DifferentialDrivePoseEstimator3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDrivePoseEstimator3d", "wpi__math__DifferentialDrivePoseEstimator3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "ExtendedKalmanFilter",
|
|
yml_file = "semiwrap/controls/ExtendedKalmanFilter.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/ExtendedKalmanFilter.hpp",
|
|
tmpl_class_names = [
|
|
("ExtendedKalmanFilter_tmpl1", "ExtendedKalmanFilter_1_1_1"),
|
|
("ExtendedKalmanFilter_tmpl2", "ExtendedKalmanFilter_2_1_1"),
|
|
("ExtendedKalmanFilter_tmpl3", "ExtendedKalmanFilter_2_1_2"),
|
|
("ExtendedKalmanFilter_tmpl4", "ExtendedKalmanFilter_2_2_2"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::ExtendedKalmanFilter", "wpi__math__ExtendedKalmanFilter.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "KalmanFilter",
|
|
yml_file = "semiwrap/controls/KalmanFilter.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/KalmanFilter.hpp",
|
|
tmpl_class_names = [
|
|
("KalmanFilter_tmpl1", "KalmanFilter_1_1_1"),
|
|
("KalmanFilter_tmpl2", "KalmanFilter_2_1_1"),
|
|
("KalmanFilter_tmpl3", "KalmanFilter_2_1_2"),
|
|
("KalmanFilter_tmpl4", "KalmanFilter_2_2_2"),
|
|
("KalmanFilter_tmpl5", "KalmanFilter_3_2_3"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::KalmanFilter", "wpi__math__KalmanFilter.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDrivePoseEstimator",
|
|
yml_file = "semiwrap/controls/MecanumDrivePoseEstimator.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/MecanumDrivePoseEstimator.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDrivePoseEstimator", "wpi__math__MecanumDrivePoseEstimator.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDrivePoseEstimator3d",
|
|
yml_file = "semiwrap/controls/MecanumDrivePoseEstimator3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/MecanumDrivePoseEstimator3d.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDrivePoseEstimator3d", "wpi__math__MecanumDrivePoseEstimator3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "PoseEstimator",
|
|
yml_file = "semiwrap/controls/PoseEstimator.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/PoseEstimator.hpp",
|
|
tmpl_class_names = [
|
|
("PoseEstimator_tmpl1", "DifferentialDrivePoseEstimatorBase"),
|
|
("PoseEstimator_tmpl2", "MecanumDrivePoseEstimatorBase"),
|
|
("PoseEstimator_tmpl3", "SwerveDrive2PoseEstimatorBase"),
|
|
("PoseEstimator_tmpl4", "SwerveDrive3PoseEstimatorBase"),
|
|
("PoseEstimator_tmpl5", "SwerveDrive4PoseEstimatorBase"),
|
|
("PoseEstimator_tmpl6", "SwerveDrive6PoseEstimatorBase"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::PoseEstimator", "wpi__math__PoseEstimator.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "PoseEstimator3d",
|
|
yml_file = "semiwrap/controls/PoseEstimator3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/PoseEstimator3d.hpp",
|
|
tmpl_class_names = [
|
|
("PoseEstimator3d_tmpl1", "DifferentialDrivePoseEstimator3dBase"),
|
|
("PoseEstimator3d_tmpl2", "MecanumDrivePoseEstimator3dBase"),
|
|
("PoseEstimator3d_tmpl3", "SwerveDrive2PoseEstimator3dBase"),
|
|
("PoseEstimator3d_tmpl4", "SwerveDrive3PoseEstimator3dBase"),
|
|
("PoseEstimator3d_tmpl5", "SwerveDrive4PoseEstimator3dBase"),
|
|
("PoseEstimator3d_tmpl6", "SwerveDrive6PoseEstimator3dBase"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::PoseEstimator3d", "wpi__math__PoseEstimator3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveDrivePoseEstimator",
|
|
yml_file = "semiwrap/controls/SwerveDrivePoseEstimator.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/SwerveDrivePoseEstimator.hpp",
|
|
tmpl_class_names = [
|
|
("SwerveDrivePoseEstimator_tmpl1", "SwerveDrive2PoseEstimator"),
|
|
("SwerveDrivePoseEstimator_tmpl2", "SwerveDrive3PoseEstimator"),
|
|
("SwerveDrivePoseEstimator_tmpl3", "SwerveDrive4PoseEstimator"),
|
|
("SwerveDrivePoseEstimator_tmpl4", "SwerveDrive6PoseEstimator"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SwerveDrivePoseEstimator", "wpi__math__SwerveDrivePoseEstimator.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveDrivePoseEstimator3d",
|
|
yml_file = "semiwrap/controls/SwerveDrivePoseEstimator3d.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/estimator/SwerveDrivePoseEstimator3d.hpp",
|
|
tmpl_class_names = [
|
|
("SwerveDrivePoseEstimator3d_tmpl1", "SwerveDrive2PoseEstimator3d"),
|
|
("SwerveDrivePoseEstimator3d_tmpl2", "SwerveDrive3PoseEstimator3d"),
|
|
("SwerveDrivePoseEstimator3d_tmpl3", "SwerveDrive4PoseEstimator3d"),
|
|
("SwerveDrivePoseEstimator3d_tmpl4", "SwerveDrive6PoseEstimator3d"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SwerveDrivePoseEstimator3d", "wpi__math__SwerveDrivePoseEstimator3d.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SimulatedAnnealing",
|
|
yml_file = "semiwrap/controls/SimulatedAnnealing.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/optimization/SimulatedAnnealing.hpp",
|
|
tmpl_class_names = [
|
|
("SimulatedAnnealing_tmpl1", "SimulatedAnnealing"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SimulatedAnnealing", "wpi__math__SimulatedAnnealing.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "TravelingSalesman",
|
|
yml_file = "semiwrap/controls/TravelingSalesman.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/path/TravelingSalesman.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::TravelingSalesman", "wpi__math__TravelingSalesman.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LinearSystem",
|
|
yml_file = "semiwrap/controls/LinearSystem.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/LinearSystem.hpp",
|
|
tmpl_class_names = [
|
|
("LinearSystem_tmpl1", "LinearSystem_1_1_1"),
|
|
("LinearSystem_tmpl2", "LinearSystem_1_1_2"),
|
|
("LinearSystem_tmpl3", "LinearSystem_1_1_3"),
|
|
("LinearSystem_tmpl4", "LinearSystem_2_1_1"),
|
|
("LinearSystem_tmpl5", "LinearSystem_2_1_2"),
|
|
("LinearSystem_tmpl6", "LinearSystem_2_1_3"),
|
|
("LinearSystem_tmpl7", "LinearSystem_2_2_1"),
|
|
("LinearSystem_tmpl8", "LinearSystem_2_2_2"),
|
|
("LinearSystem_tmpl9", "LinearSystem_2_2_3"),
|
|
("LinearSystem_tmpl10", "LinearSystem_3_2_1"),
|
|
("LinearSystem_tmpl11", "LinearSystem_3_2_2"),
|
|
("LinearSystem_tmpl12", "LinearSystem_3_2_3"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::LinearSystem", "wpi__math__LinearSystem.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LinearSystemLoop",
|
|
yml_file = "semiwrap/controls/LinearSystemLoop.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/LinearSystemLoop.hpp",
|
|
tmpl_class_names = [
|
|
("LinearSystemLoop_tmpl1", "LinearSystemLoop_1_1_1"),
|
|
("LinearSystemLoop_tmpl2", "LinearSystemLoop_2_1_1"),
|
|
("LinearSystemLoop_tmpl3", "LinearSystemLoop_2_1_2"),
|
|
("LinearSystemLoop_tmpl4", "LinearSystemLoop_2_2_2"),
|
|
("LinearSystemLoop_tmpl5", "LinearSystemLoop_3_2_3"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::LinearSystemLoop", "wpi__math__LinearSystemLoop.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DCMotor",
|
|
yml_file = "semiwrap/controls/DCMotor.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/plant/DCMotor.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DCMotor", "wpi__math__DCMotor.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "LinearSystemId",
|
|
yml_file = "semiwrap/controls/LinearSystemId.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/system/plant/LinearSystemId.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::LinearSystemId", "wpi__math__LinearSystemId.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "ExponentialProfile",
|
|
yml_file = "semiwrap/controls/ExponentialProfile.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/ExponentialProfile.hpp",
|
|
tmpl_class_names = [
|
|
("ExponentialProfile_tmpl1", "ExponentialProfileMeterVolts"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::ExponentialProfile", "wpi__math__ExponentialProfile.hpp"),
|
|
("wpi::math::ExponentialProfile::Constraints", "wpi__math__ExponentialProfile__Constraints.hpp"),
|
|
("wpi::math::ExponentialProfile::State", "wpi__math__ExponentialProfile__State.hpp"),
|
|
("wpi::math::ExponentialProfile::ProfileTiming", "wpi__math__ExponentialProfile__ProfileTiming.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "Trajectory",
|
|
yml_file = "semiwrap/controls/Trajectory.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/Trajectory.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::Trajectory", "wpi__math__Trajectory.hpp"),
|
|
("wpi::math::Trajectory::State", "wpi__math__Trajectory__State.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "TrajectoryConfig",
|
|
yml_file = "semiwrap/controls/TrajectoryConfig.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryConfig.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::TrajectoryConfig", "wpi__math__TrajectoryConfig.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "TrajectoryGenerator",
|
|
yml_file = "semiwrap/controls/TrajectoryGenerator.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryGenerator.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::TrajectoryGenerator", "wpi__math__TrajectoryGenerator.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "TrajectoryParameterizer",
|
|
yml_file = "semiwrap/controls/TrajectoryParameterizer.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrajectoryParameterizer.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::TrajectoryParameterizer", "wpi__math__TrajectoryParameterizer.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "TrapezoidProfile",
|
|
yml_file = "semiwrap/controls/TrapezoidProfile.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/TrapezoidProfile.hpp",
|
|
tmpl_class_names = [
|
|
("TrapezoidProfile_tmpl1", "TrapezoidProfile"),
|
|
("TrapezoidProfile_tmpl2", "TrapezoidProfileRadians"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::TrapezoidProfile", "wpi__math__TrapezoidProfile.hpp"),
|
|
("wpi::math::TrapezoidProfile::Constraints", "wpi__math__TrapezoidProfile__Constraints.hpp"),
|
|
("wpi::math::TrapezoidProfile::State", "wpi__math__TrapezoidProfile__State.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "CentripetalAccelerationConstraint",
|
|
yml_file = "semiwrap/controls/CentripetalAccelerationConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/CentripetalAccelerationConstraint.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::CentripetalAccelerationConstraint", "wpi__math__CentripetalAccelerationConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveKinematicsConstraint",
|
|
yml_file = "semiwrap/controls/DifferentialDriveKinematicsConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/DifferentialDriveKinematicsConstraint.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveKinematicsConstraint", "wpi__math__DifferentialDriveKinematicsConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "DifferentialDriveVoltageConstraint",
|
|
yml_file = "semiwrap/controls/DifferentialDriveVoltageConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/DifferentialDriveVoltageConstraint.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::DifferentialDriveVoltageConstraint", "wpi__math__DifferentialDriveVoltageConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "EllipticalRegionConstraint",
|
|
yml_file = "semiwrap/controls/EllipticalRegionConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/EllipticalRegionConstraint.hpp",
|
|
tmpl_class_names = [
|
|
("EllipticalRegionConstraint_tmpl1", "EllipticalRegionConstraint"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::EllipticalRegionConstraint", "wpi__math__EllipticalRegionConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MaxVelocityConstraint",
|
|
yml_file = "semiwrap/controls/MaxVelocityConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/MaxVelocityConstraint.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MaxVelocityConstraint", "wpi__math__MaxVelocityConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "MecanumDriveKinematicsConstraint",
|
|
yml_file = "semiwrap/controls/MecanumDriveKinematicsConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/MecanumDriveKinematicsConstraint.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::MecanumDriveKinematicsConstraint", "wpi__math__MecanumDriveKinematicsConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "RectangularRegionConstraint",
|
|
yml_file = "semiwrap/controls/RectangularRegionConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/RectangularRegionConstraint.hpp",
|
|
tmpl_class_names = [
|
|
("RectangularRegionConstraint_tmpl1", "RectangularRegionConstraint"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::RectangularRegionConstraint", "wpi__math__RectangularRegionConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "SwerveDriveKinematicsConstraint",
|
|
yml_file = "semiwrap/controls/SwerveDriveKinematicsConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/SwerveDriveKinematicsConstraint.hpp",
|
|
tmpl_class_names = [
|
|
("SwerveDriveKinematicsConstraint_tmpl1", "SwerveDrive2KinematicsConstraint"),
|
|
("SwerveDriveKinematicsConstraint_tmpl2", "SwerveDrive3KinematicsConstraint"),
|
|
("SwerveDriveKinematicsConstraint_tmpl3", "SwerveDrive4KinematicsConstraint"),
|
|
("SwerveDriveKinematicsConstraint_tmpl4", "SwerveDrive6KinematicsConstraint"),
|
|
],
|
|
trampolines = [
|
|
("wpi::math::SwerveDriveKinematicsConstraint", "wpi__math__SwerveDriveKinematicsConstraint.hpp"),
|
|
],
|
|
),
|
|
struct(
|
|
class_name = "TrajectoryConstraint",
|
|
yml_file = "semiwrap/controls/TrajectoryConstraint.yml",
|
|
header_root = "$(execpath :robotpy-native-wpimath.copy_headers)",
|
|
header_file = "$(execpath :robotpy-native-wpimath.copy_headers)/wpi/math/trajectory/constraint/TrajectoryConstraint.hpp",
|
|
tmpl_class_names = [],
|
|
trampolines = [
|
|
("wpi::math::TrajectoryConstraint", "wpi__math__TrajectoryConstraint.hpp"),
|
|
("wpi::math::TrajectoryConstraint::MinMax", "wpi__math__TrajectoryConstraint__MinMax.hpp"),
|
|
],
|
|
),
|
|
]
|
|
|
|
resolve_casters(
|
|
name = "wpimath_controls.resolve_casters",
|
|
caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json", ":src/main/python/wpimath/wpimath-casters.pybind11.json"],
|
|
casters_pkl_file = "wpimath_controls.casters.pkl",
|
|
dep_file = "wpimath_controls.casters.d",
|
|
)
|
|
|
|
gen_libinit(
|
|
name = "wpimath_controls.gen_lib_init",
|
|
output_file = "src/main/python/wpimath/_controls/_init__controls.py",
|
|
modules = ["native.wpimath._init_robotpy_native_wpimath", "wpimath._init__wpimath", "wpimath.geometry._init__geometry", "wpimath.kinematics._init__kinematics", "wpimath.spline._init__spline"],
|
|
)
|
|
|
|
gen_pkgconf(
|
|
name = "wpimath_controls.gen_pkgconf",
|
|
libinit_py = "wpimath._controls._init__controls",
|
|
module_pkg_name = "wpimath._controls._controls",
|
|
output_file = "wpimath_controls.pc",
|
|
pkg_name = "wpimath_controls",
|
|
install_path = "src/main/python/wpimath/_controls",
|
|
project_file = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/wpimath/__init__.py",
|
|
)
|
|
|
|
gen_modinit_hpp(
|
|
name = "wpimath_controls.gen_modinit_hpp",
|
|
input_dats = [x.class_name for x in WPIMATH_CONTROLS_HEADER_GEN],
|
|
libname = "_controls",
|
|
output_file = "semiwrap_init.wpimath._controls._controls.hpp",
|
|
)
|
|
|
|
run_header_gen(
|
|
name = "wpimath_controls",
|
|
casters_pickle = "wpimath_controls.casters.pkl",
|
|
header_gen_config = WPIMATH_CONTROLS_HEADER_GEN,
|
|
trampoline_subpath = "src/main/python/wpimath/_controls",
|
|
deps = header_to_dat_deps,
|
|
local_native_libraries = [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
)
|
|
|
|
create_pybind_library(
|
|
name = "wpimath_controls",
|
|
install_path = "src/main/python/wpimath/_controls/",
|
|
extension_name = "_controls",
|
|
generated_srcs = [":wpimath_controls.generated_srcs"],
|
|
semiwrap_header = [":wpimath_controls.gen_modinit_hpp"],
|
|
deps = [
|
|
":wpimath_controls.tmpl_hdrs",
|
|
":wpimath_controls.trampoline_hdrs",
|
|
"//wpimath:wpimath",
|
|
"//wpimath:wpimath-casters",
|
|
"//wpimath:wpimath_geometry_pybind_library",
|
|
"//wpimath:wpimath_kinematics_pybind_library",
|
|
"//wpimath:wpimath_pybind_library",
|
|
"//wpimath:wpimath_spline_pybind_library",
|
|
"//wpiutil:wpiutil",
|
|
"//wpiutil:wpiutil_pybind_library",
|
|
],
|
|
dynamic_deps = [
|
|
"//wpimath:shared/wpimath",
|
|
"//wpiutil:shared/wpiutil",
|
|
],
|
|
extra_hdrs = extra_hdrs,
|
|
extra_srcs = srcs,
|
|
includes = includes,
|
|
)
|
|
|
|
native.filegroup(
|
|
name = "wpimath_controls.generated_files",
|
|
srcs = [
|
|
"wpimath_controls.gen_modinit_hpp.gen",
|
|
"wpimath_controls.header_gen_files",
|
|
"wpimath_controls.gen_pkgconf",
|
|
"wpimath_controls.gen_lib_init",
|
|
],
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
def publish_library_casters():
|
|
publish_casters(
|
|
name = "publish_casters",
|
|
caster_name = "wpimath-casters",
|
|
output_json = "src/main/python/wpimath/wpimath-casters.pybind11.json",
|
|
output_pc = "src/main/python/wpimath/wpimath-casters.pc",
|
|
project_config = "src/main/python/pyproject.toml",
|
|
package_root = "src/main/python/wpimath/__init__.py",
|
|
typecasters_srcs = native.glob(["src/main/python/wpimath/_impl/src/**", "src/main/python/wpimath/_impl/src/type_casters/**"]),
|
|
)
|
|
|
|
cc_library(
|
|
name = "wpimath-casters",
|
|
hdrs = native.glob(["src/main/python/wpimath/_impl/src/*.h", "src/main/python/wpimath/_impl/src/type_casters/*.h"]),
|
|
includes = ["src/main/python/wpimath/_impl/src", "src/main/python/wpimath/_impl/src/type_casters"],
|
|
visibility = ["//visibility:public"],
|
|
tags = ["robotpy"],
|
|
)
|
|
|
|
def define_pybind_library(name, pkgcfgs = []):
|
|
# Helper used to generate all files with one target.
|
|
native.filegroup(
|
|
name = "{}.generated_files".format(name),
|
|
srcs = [
|
|
"wpimath.generated_files",
|
|
"wpimath_filter.generated_files",
|
|
"wpimath_geometry.generated_files",
|
|
"wpimath_interpolation.generated_files",
|
|
"wpimath_kinematics.generated_files",
|
|
"wpimath_spline.generated_files",
|
|
"wpimath_controls.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/wpimath/wpimath.pc",
|
|
"src/main/python/wpimath/filter/wpimath_filter.pc",
|
|
"src/main/python/wpimath/geometry/wpimath_geometry.pc",
|
|
"src/main/python/wpimath/interpolation/wpimath_interpolation.pc",
|
|
"src/main/python/wpimath/kinematics/wpimath_kinematics.pc",
|
|
"src/main/python/wpimath/spline/wpimath_spline.pc",
|
|
"src/main/python/wpimath/_controls/wpimath_controls.pc",
|
|
"src/main/python/wpimath/wpimath-casters.pc",
|
|
"src/main/python/wpimath/wpimath-casters.pybind11.json",
|
|
],
|
|
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/wpimath/**"], exclude = ["src/main/python/wpimath/**/*.py"], allow_empty = True),
|
|
tags = ["manual", "robotpy"],
|
|
)
|
|
|
|
generate_version_file(
|
|
name = "{}.generate_version".format(name),
|
|
output_file = "src/main/python/wpimath/version.py",
|
|
template = "//shared/bazel/rules/robotpy:version_template.in",
|
|
)
|
|
|
|
robotpy_library(
|
|
name = name,
|
|
srcs = native.glob(["src/main/python/wpimath/**/*.py"]) + [
|
|
"src/main/python/wpimath/_init__wpimath.py",
|
|
"src/main/python/wpimath/filter/_init__filter.py",
|
|
"src/main/python/wpimath/geometry/_init__geometry.py",
|
|
"src/main/python/wpimath/interpolation/_init__interpolation.py",
|
|
"src/main/python/wpimath/kinematics/_init__kinematics.py",
|
|
"src/main/python/wpimath/spline/_init__spline.py",
|
|
"src/main/python/wpimath/_controls/_init__controls.py",
|
|
"{}.generate_version".format(name),
|
|
],
|
|
data = [
|
|
"{}.generated_pkgcfg_files".format(name),
|
|
"{}.extra_files".format(name),
|
|
":src/main/python/wpimath/_wpimath",
|
|
":src/main/python/wpimath/filter/_filter",
|
|
":src/main/python/wpimath/geometry/_geometry",
|
|
":src/main/python/wpimath/interpolation/_interpolation",
|
|
":src/main/python/wpimath/kinematics/_kinematics",
|
|
":src/main/python/wpimath/spline/_spline",
|
|
":src/main/python/wpimath/_controls/_controls",
|
|
":wpimath.trampoline_hdr_files",
|
|
":wpimath_filter.trampoline_hdr_files",
|
|
":wpimath_geometry.trampoline_hdr_files",
|
|
":wpimath_interpolation.trampoline_hdr_files",
|
|
":wpimath_kinematics.trampoline_hdr_files",
|
|
":wpimath_spline.trampoline_hdr_files",
|
|
":wpimath_controls.trampoline_hdr_files",
|
|
],
|
|
imports = ["src/main/python"],
|
|
deps = [
|
|
"//wpimath:robotpy-native-wpimath",
|
|
"//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) + [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
"//wpiutil:robotpy-native-wpiutil.copy_headers",
|
|
],
|
|
package_root_file = "src/main/python/wpimath/__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) + [
|
|
"//wpimath:robotpy-native-wpimath.copy_headers",
|
|
],
|
|
package_root_file = "src/main/python/wpimath/__init__.py",
|
|
pkgcfgs = pkgcfgs,
|
|
pyproject_toml = "src/main/python/pyproject.toml",
|
|
)
|